TY - GEN
T1 - CV-SLAM using line and point features
AU - Choi, Hyukdoo
AU - Jo, Sungjin
AU - Kim, Euntai
PY - 2012
Y1 - 2012
N2 - Simultaneous Localization and Mapping (SLAM) is a fundamental problem in the mobile robotics. As SLAM is usually utilized in an indoor environment, we select the ceiling view (CV) as a stable source of features. In this research, three types of features are extracted from CV and constitute a single map. The landmarks detected from ceilings are ceiling boundaries, electric lamps, and circles. Each of them is very robustly detected from CV and the combination of them yields more stable and accurate localization performance. Multiple kinds of features are integrated into an EKF-SLAM framework. We demonstrated the SLAM system in an indoor environment and proved its high performance.
AB - Simultaneous Localization and Mapping (SLAM) is a fundamental problem in the mobile robotics. As SLAM is usually utilized in an indoor environment, we select the ceiling view (CV) as a stable source of features. In this research, three types of features are extracted from CV and constitute a single map. The landmarks detected from ceilings are ceiling boundaries, electric lamps, and circles. Each of them is very robustly detected from CV and the combination of them yields more stable and accurate localization performance. Multiple kinds of features are integrated into an EKF-SLAM framework. We demonstrated the SLAM system in an indoor environment and proved its high performance.
UR - http://www.scopus.com/inward/record.url?scp=84872540083&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872540083&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84872540083
SN - 9781467322478
T3 - International Conference on Control, Automation and Systems
SP - 1465
EP - 1468
BT - ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
T2 - 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
Y2 - 17 October 2012 through 21 October 2012
ER -